diff --git a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
index a02ab010e8cea..b26a2630ed994 100644
--- a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
+++ b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
@@ -361,12 +361,14 @@ template <typename T>
 T VehicleCmdGate::getContinuousTopic(
   const std::shared_ptr<T> & prev_topic, const T & current_topic, const std::string & topic_name)
 {
-  if ((rclcpp::Time(current_topic.stamp) - rclcpp::Time(prev_topic->stamp)).seconds() > 0.0) {
+  if ((rclcpp::Time(current_topic.stamp) - rclcpp::Time(prev_topic->stamp)).seconds() >= 0.0) {
     return current_topic;
   } else {
-    RCLCPP_INFO(
-      get_logger(),
-      "The operation mode is changed, but the %s is not received yet:", topic_name.c_str());
+    if (topic_name != "") {
+      RCLCPP_INFO(
+        get_logger(),
+        "The operation mode is changed, but the %s is not received yet:", topic_name.c_str());
+    }
     return *prev_topic;
   }
 }
diff --git a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp
index 3f74be72be9dc..279bc6036bd34 100644
--- a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp
+++ b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp
@@ -240,7 +240,8 @@ class VehicleCmdGate : public rclcpp::Node
 
   template <typename T>
   T getContinuousTopic(
-    const std::shared_ptr<T> & prev_topic, const T & current_topic, const std::string & topic_name);
+    const std::shared_ptr<T> & prev_topic, const T & current_topic,
+    const std::string & topic_name = "");
 
   // Algorithm
   Control prev_control_cmd_;